kao yi / Mbed 2 deprecated Boboobooov4

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Dependencies:   mbed-rtos mbed

Fork of Bov3 by kao yi

controller.h@8:8e49e21d80a2, 2014-06-22 (annotated)

Committer:
backman
Date:
Sun Jun 22 15:29:20 2014 +0000
Revision:
8:8e49e21d80a2
Parent:
7:fd976e1ced33
Child:
9:33b99cb45e99
same work

Who changed what in which revision?

UserRevisionLine numberNew contents of line
backman 7:fd976e1ced33 1 #include "mbed.h"
backman 7:fd976e1ced33 2
backman 7:fd976e1ced33 3
backman 7:fd976e1ced33 4
backman 7:fd976e1ced33 5 class PID
backman 7:fd976e1ced33 6 {
backman 7:fd976e1ced33 7 public:
backman 7:fd976e1ced33 8
backman 8:8e49e21d80a2 9 float de_v;
backman 8:8e49e21d80a2 10
backman 8:8e49e21d80a2 11
backman 7:fd976e1ced33 12 /*
backman 7:fd976e1ced33 13 * Constructeur
backman 7:fd976e1ced33 14 * Sets default limits, calculates tuning parameters, and sets manual mode with no bias.
backman 7:fd976e1ced33 15 * @param Kc - Tuning parameter
backman 7:fd976e1ced33 16 * @param tauI - Tuning parameter
backman 7:fd976e1ced33 17 * @param tauD - Tuning parameter
backman 7:fd976e1ced33 18 * @param interval PID calculation performed every interval seconds.
backman 7:fd976e1ced33 19 */
backman 7:fd976e1ced33 20 PID(float Kc, float tauI, float tauD, float interval);
backman 7:fd976e1ced33 21
backman 7:fd976e1ced33 22 /*
backman 7:fd976e1ced33 23 * Scale from inputs to 0-100%.
backman 7:fd976e1ced33 24 * @param InMin The real world value corresponding to 0%.
backman 7:fd976e1ced33 25 * @param InMax The real world value corresponding to 100%.
backman 7:fd976e1ced33 26 */
backman 7:fd976e1ced33 27 void setInputLimits(float inMin, float inMax);
backman 7:fd976e1ced33 28
backman 7:fd976e1ced33 29 /*
backman 7:fd976e1ced33 30 * Scale from outputs to 0-100%.
backman 7:fd976e1ced33 31 * @param outMin The real world value corresponding to 0%.
backman 7:fd976e1ced33 32 * @param outMax The real world value corresponding to 100%.
backman 7:fd976e1ced33 33 */
backman 7:fd976e1ced33 34 void setOutputLimits(float outMin, float outMax);
backman 7:fd976e1ced33 35
backman 7:fd976e1ced33 36 /*
backman 7:fd976e1ced33 37 * Calculate PID constants.
backman 7:fd976e1ced33 38 * Allows parameters to be changed on the fly without ruining calculations.
backman 7:fd976e1ced33 39 * @param Kc - Tuning parameter
backman 7:fd976e1ced33 40 * @param tauI - Tuning parameter
backman 7:fd976e1ced33 41 * @param tauD - Tuning parameter
backman 7:fd976e1ced33 42 */
backman 7:fd976e1ced33 43 void setTunings(float Kc, float tauI, float tauD);
backman 7:fd976e1ced33 44
backman 7:fd976e1ced33 45 /*
backman 7:fd976e1ced33 46 * Reinitializes controller internals. Automatically
backman 7:fd976e1ced33 47 * called on a manual to auto transition.
backman 7:fd976e1ced33 48 */
backman 7:fd976e1ced33 49 void reset(void);
backman 7:fd976e1ced33 50
backman 7:fd976e1ced33 51 /*
backman 7:fd976e1ced33 52 * Set how fast the PID loop is run.
backman 7:fd976e1ced33 53 * @param interval PID calculation peformed every interval seconds.
backman 7:fd976e1ced33 54 */
backman 7:fd976e1ced33 55 void setInterval(float interval);
backman 7:fd976e1ced33 56
backman 7:fd976e1ced33 57 /*
backman 7:fd976e1ced33 58 * Set the bias.
backman 7:fd976e1ced33 59 * @param bias The bias for the controller output.
backman 7:fd976e1ced33 60 */
backman 7:fd976e1ced33 61 void setBias(float bias);
backman 7:fd976e1ced33 62
backman 7:fd976e1ced33 63 /*
backman 7:fd976e1ced33 64 * PID calculation.
backman 7:fd976e1ced33 65 * @return The controller output as a float between outMin and outMax.
backman 7:fd976e1ced33 66 */
backman 7:fd976e1ced33 67 float compute(float pv, float sp);
backman 7:fd976e1ced33 68
backman 7:fd976e1ced33 69 //Getters.
backman 7:fd976e1ced33 70 float getInMin();
backman 7:fd976e1ced33 71 float getInMax();
backman 7:fd976e1ced33 72 float getOutMin();
backman 7:fd976e1ced33 73 float getOutMax();
backman 7:fd976e1ced33 74 float getInterval();
backman 7:fd976e1ced33 75 float getPParam();
backman 7:fd976e1ced33 76 float getIParam();
backman 7:fd976e1ced33 77 float getDParam();
backman 7:fd976e1ced33 78
backman 7:fd976e1ced33 79 private:
backman 7:fd976e1ced33 80
backman 7:fd976e1ced33 81 bool usingFeedForward;
backman 7:fd976e1ced33 82
backman 7:fd976e1ced33 83 //Actual tuning parameters used in PID calculation.
backman 7:fd976e1ced33 84 float Kc_;
backman 7:fd976e1ced33 85 float tauR_;
backman 7:fd976e1ced33 86 float tauD_;
backman 7:fd976e1ced33 87
backman 7:fd976e1ced33 88 //Raw tuning parameters.
backman 7:fd976e1ced33 89 float pParam_;
backman 7:fd976e1ced33 90 float iParam_;
backman 7:fd976e1ced33 91 float dParam_;
backman 7:fd976e1ced33 92
backman 7:fd976e1ced33 93 //The point we want to reach.
backman 7:fd976e1ced33 94 float setPoint_;
backman 7:fd976e1ced33 95 //The thing we measure.
backman 7:fd976e1ced33 96 float processVariable_;
backman 7:fd976e1ced33 97 float prevProcessVariable_;
backman 7:fd976e1ced33 98 //The output that affects the process variable.
backman 7:fd976e1ced33 99 float controllerOutput_;
backman 7:fd976e1ced33 100 float prevControllerOutput_;
backman 7:fd976e1ced33 101
backman 7:fd976e1ced33 102 //We work in % for calculations so these will scale from
backman 7:fd976e1ced33 103 //real world values to 0-100% and back again.
backman 7:fd976e1ced33 104 float inMin_;
backman 7:fd976e1ced33 105 float inMax_;
backman 7:fd976e1ced33 106 float inSpan_;
backman 7:fd976e1ced33 107 float outMin_;
backman 7:fd976e1ced33 108 float outMax_;
backman 7:fd976e1ced33 109 float outSpan_;
backman 7:fd976e1ced33 110
backman 7:fd976e1ced33 111 //The accumulated error, i.e. integral.
backman 7:fd976e1ced33 112 float accError_;
backman 7:fd976e1ced33 113 //The controller output bias.
backman 7:fd976e1ced33 114 float bias_;
backman 7:fd976e1ced33 115
backman 7:fd976e1ced33 116 //The interval between samples.
backman 7:fd976e1ced33 117 float tSample_;
backman 7:fd976e1ced33 118
backman 7:fd976e1ced33 119 //Controller output as a real world value.
backman 7:fd976e1ced33 120 volatile float realOutput_;
backman 7:fd976e1ced33 121
backman 7:fd976e1ced33 122 };